clc;
clear;

dt = 0.01;
Xk = rand(15,1);
Pk = rand(15,15);
Qt = rand(15,1);
Cnb = rand(3,3);
Mpvv = rand(3,1);
dt_Cnb = Cnb  * dt;
dt_fnsf = rand(3,1);
dt_bataGyr = rand(3,1);
dt_bataAcc = rand(3,1);

[Xkk_1,Pkk_1] = predict_xkpk(Xk,Pk,Qt,Cnb,Mpvv,dt_Cnb,dt_fnsf,dt_bataGyr,dt_bataAcc,dt)